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How can I create a timer in ros2?

asked 2022-11-10 08:06:38 -0500

Ima gravatar image

Hi, I want to publish ROS messages with a non-periodic frequency. I see that rclcpp::create_wall_timer() uses a constant period for calling the callback function, which is not what I want. Is there a way to do this? Thanks in advance!

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Why would you do that? Can you please explain your use case in the question?

ravijoshi gravatar image ravijoshi  ( 2022-11-11 03:27:37 -0500 )edit

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answered 2022-11-11 14:10:54 -0500

duck-development gravatar image

Every time when you call

publisher_->publish(message);

A message is published.

You could write a while true loop with thead sleep to get you a periodic behavior.

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Thanks for the reply!

Ima gravatar image Ima  ( 2022-11-18 03:42:51 -0500 )edit

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Asked: 2022-11-10 08:06:38 -0500

Seen: 156 times

Last updated: Nov 11 '22